Visual-tactile sensory map calibration of a biomimetic whiskered robot

Assaf, Tareq; Wilson, Emma D.; Anderson, Sean; Dean, Paul; Porrill, John; Pearson, Martin J.

Abstract

© 2016 IEEE. We present an adaptive filter model of cerebellar function applied to the calibration of a tactile sensory map to improve the accuracy of directed movements of a robotic manipulator. This is demonstrated using a platform called Bellabot that incorporates an array of biomimetic tactile whiskers, actuated using electro-active polymer artificial muscles, a camera to provide visual error feedback, and a standard industrial robotic manipulator. The algorithm learns to accommodate imperfections in the sensory map that may be as a result of poor manufacturing tolerances or damage to the sensory array. Such an ability is an important pre-requisite for robust tactile robotic systems operating in the real-world for extended periods of time. In this work the sensory maps have been purposely distorted in order to evaluate the performance of the algorithm.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: IEEE International Conference on Robotics and Automation (ICRA)
• Start Date: May 16, 2016
• End Date: May 21, 2016
• Acceptance Date: Jan 15, 2016
• Publication Date: Jun 8, 2016
• Deposit Date: Nov 28, 2016
• Publicly Available Date: Nov 28, 2016
• Journal: Proceedings - IEEE International Conference on Robotics and Automation
• Print ISSN: 1050-4729
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 2016-June
• Pages: 967-972
• ISBN: 978-1-4673-8026-3
• DOI: https://doi.org/10.1109/ICRA.2016.7487228
• Keywords: robot sensing systems, service robots, calibration, cameras, head
• Public URL: https://uwe-repository.worktribe.com/output/910976
• Publisher URL: http://dx.doi.org/10.1109/ICRA.2016.7487228
• Additional Information: Additional Information : © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; Title of Conference or Conference Proceedings : 2016 IEEE International Conference on Robotics and Automation (ICRA)
• Contract Date: Nov 28, 2016